An experimental study on the role of compliant elements on the locomotion of the self-reconfigurable modular robots Roombots
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In this paper, we present a novel control architecture for the online adaptation of bipedal locomotion on inclined obstacles. In particular, we introduce a novel, cost-effective, and versatile foot sensor to detect the proximity of the robot's feet to the ...
The main theme of my thesis will be to use neuro-muscular modeling techniques to study locomotion of terrestrial mammals. Locomotion is the ability of animals to interact with the environment to propel themselves in space. It involves co-ordination and pre ...
Animals display an enormous versatility and a remarkable ability to adapt to changes in environment and terrain. Research in bio-inspired robotics strives to transfer these skills to robots, including legged systems. Even though animals seemingly effortles ...
The development of miniaturized machines that can actively cross barriers, navigate through heterogeneous materials and access remote sites can revolutionize environmental inspection and targeted therapy. Seminal work demonstrated the feasibility of follow ...
Human and animal locomotion are controlled by complex neural circuits, which can also serve as inspiration for designing locomotion controllers for dynamic locomotion in legged robots. We develop a locomotion controller model including a central pattern ge ...
Undulatory swimming represents an ideal behavior to investigate locomotion control and the role of the underlying central and peripheral components in the spinal cord. Many vertebrate swimmers have central pattern generators and local pressure-sensitive re ...
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...
Quadrupeds achieve rapid and highly adaptive locomotion owing to the coordination between their legs and other body parts such as their trunk, head, and tail, i.e. body-limb coordination. Therefore, a better understanding of the mechanism underlying body-l ...
The study of animal locomotion is vast since animals have various shapes and modes of locomotion. It finds multiple applications especially in robotics. In this report, the focus will be put on snake locomotion. However snakes still have various techniques ...
This work investigates the usage of compliant universal grippers as a novel foot design for legged locomotion. The method of jamming of granular media in the universal grippers is characterized by having two distinct states: a soft, fluid-like state which ...